update

a8000_protocol

@@ -1 +1 @@
-Subproject commit 826f05973b88e7f311373d9f7d1ce74a2554512f
+Subproject commit f27f273732bc2e98dbee3ff88897c1db054ae10d

sdk/components/step_motor_ctrl_module/step_motor_ctrl_module.cpp

@@ -113,6 +113,7 @@ int32_t StepMotorCtrlModule::pri_module_xxx_reg(int32_t param_id, bool read, int
     PROCESS_REG(kreg_step_motor_dzero_pos, REG_GET(m_cfg.motor_dzero), update_dzero(m_cfg.motor_dzero));
 
     PROCESS_REG(kret_step_motor_pos_devi_tolerance, REG_GET(m_cfg.pos_devi_tolerance), REG_SET(m_cfg.pos_devi_tolerance));
+    PROCESS_REG(kret_step_motor_io_trigger_append_distance, REG_GET(m_cfg.io_trigger_append_distance), REG_SET(m_cfg.io_trigger_append_distance));
 
     default:
       return err::kmodule_not_find_reg;
@@ -381,6 +382,14 @@ bool StepMotorCtrlModule::exec_move_to_io_task(int32_t ioindex, int32_t directio
 
   if (!check_when_run()) return false;
 
+  //
+  int32_t targetpos = getnowpos() + m_cfg.io_trigger_append_distance;
+  if (direction < 0) {
+    targetpos = getnowpos() - m_cfg.io_trigger_append_distance;
+  }
+  moveTo(targetpos, m_cfg.motor_default_velocity);
+  waitforstop(nullptr);
+
   if (m_thread.getExitFlag()) {
     ZLOGW(TAG, "break move to zero thread exit");
     return true;
@@ -605,10 +614,11 @@ int32_t StepMotorCtrlModule::do_step_motor_easy_move_to_zero() {
             break;
           }
           moveToZeroSuc = true;
+
         } while (false);
         after_motor_move();
         if (moveToZeroSuc) {
-          setnowpos(0 + m_cfg.motor_dzero);
+          setnowpos(0 + m_cfg.motor_dzero - m_cfg.io_trigger_append_distance);
         }
       },
       [this]() { m_stepM1->stop(); });

sdk/components/step_motor_ctrl_module/step_motor_ctrl_module.hpp

@@ -34,6 +34,7 @@ class StepMotorCtrlModule : public ZIModule, public ZIStepMotor {
     int32_t motor_enable_enc;
     int32_t motor_dzero;  // 零点偏移
     int32_t pos_devi_tolerance;
+    int32_t io_trigger_append_distance;
   } config_t;
 
   typedef struct {